OpenRaiser/Intern-Atlas huggingface dataset:
A Unified Framework for Weighted Hypergraphic Networks and Fractional Matching
Venue: arXiv cs.GT 2026
Year: 2026

Network formation theory studies how agents create and maintain relationships, and the stability of those relationships with respect to individual incentives. A central stability concept in this literature is pairwise stability, introduced by Jackson and Wolinsky (1996) for unweighted networks (agents are either connected or not) and later extended by Bich and Morhaim (2020) to weighted networks (connections can have different intensities). In this paper, we pursue two main objectives. First, we extend the notion of stability to networks defined on hypergraphs, where relationships may involve more than two agents simultaneously and where agents face budget constraints on the sum of the intensity of all their connections. We introduce a stability concept that preserves the core intuition of pairwise stability while generalizing it to relationships involving more than two agents, and that accounts for budget constraints. Second, we propose a stronger notion that we call full stability, inspired by stability concepts from matching theory, in which agents are allowed to adjust multiple connections simultaneously rather than through single-link deviations. We give existence results for both stability notions under various assumptions, as well as explicit solutions or algorithms, and provide counter-examples for most cases that do not satisfy those assumptions, establishing an almost complete theory. Our framework provides a unified approach to constrained network formation in hypergraphic settings and builds a conceptual bridge between the theories of weighted network formation and fractional matching.
Carbon-aware decentralized dynamic task offloading in MIMO-MEC networks via multi-agent reinforcement learning
Venue: arXiv cs.DC 2026
Year: 2026

Massive internet of things microservices require integrating renewable energy harvesting into mobile edge computing (MEC) for sustainable eScience infrastructures. Spatiotemporal mismatches between stochastic task arrivals and intermittent green energy along with complex inter-user interference in multi-antenna (MIMO) uplinks complicate real-time resource management. Traditional centralized optimization and off-policy reinforcement learning struggle with scalability and signaling overhead in dense networks. This paper proposes CADDTO-PPO, a carbon-aware decentralized dynamic task offloading framework based on multi-agent proximal policy optimization. The multi-user MIMO-MEC system is modeled as a Decentralized Partially Observable Markov Decision Process (DEC-POMDP) to jointly minimize carbon emissions and buffer latency and energy wastage. A scalable architecture utilizes decentralized execution with parameter sharing (DEPS), which enables autonomous IoT agents to make fine-grained power control and offloading decisions based solely on local observations. Additionally, a carbon-first reward structure adaptively prioritizes green time slots for data transmission to decouple system throughput from grid-dependent carbon footprints. Finally, experimental results demonstrate CADDTO-PPO outperforms deep deterministic policy gradient (DDPG) and lyapunov-based baselines. The framework achieves the lowest carbon intensity and maintains near-zero packet overflow rates under extreme traffic loads. Architectural profiling validates the framework to demonstrate a constant $O(1)$ inference complexity and theoretical lightweight feasibility for future generation sustainable IoT deployments.
HeRO: Hierarchical 3D Semantic Representation for Pose-aware Object Manipulation
Venue: arXiv cs.CV 2026
Year: 2026

Imitation learning for robotic manipulation has progressed from 2D image policies to 3D representations that explicitly encode geometry. Yet purely geometric policies often lack explicit part-level semantics, which are critical for pose-aware manipulation (e.g., distinguishing a shoe's toe from heel). In this paper, we present HeRO, a diffusion-based policy that couples geometry and semantics via hierarchical semantic fields. HeRO employs dense semantics lifting to fuse discriminative, geometry-sensitive features from DINOv2 with the smooth, globally coherent correspondences from Stable Diffusion, yielding dense features that are both fine-grained and spatially consistent. These features are processed and partitioned to construct a global field and a set of local fields. A hierarchical conditioning module conditions the generative denoiser on global and local fields using permutation-invariant network architecture, thereby avoiding order-sensitive bias and producing a coherent control policy for pose-aware manipulation. In various tests, HeRO establishes a new state-of-the-art, improving success on Place Dual Shoes by 12.3% and averaging 6.5% gains across six challenging pose-aware tasks. Code is available at https://github.com/Chongyang-99/HeRO.
EvalSense: A Framework for Domain-Specific LLM (Meta-)Evaluation
Venue: arXiv cs.CL 2026
Year: 2026

Robust and comprehensive evaluation of large language models (LLMs) is essential for identifying effective LLM system configurations and mitigating risks associated with deploying LLMs in sensitive domains. However, traditional statistical metrics are poorly suited to open-ended generation tasks, leading to growing reliance on LLM-based evaluation methods. These methods, while often more flexible, introduce additional complexity: they depend on carefully chosen models, prompts, parameters, and evaluation strategies, making the evaluation process prone to misconfiguration and bias. In this work, we present EvalSense, a flexible, extensible framework for constructing domain-specific evaluation suites for LLMs. EvalSense provides out-of-the-box support for a broad range of model providers and evaluation strategies, and assists users in selecting and deploying suitable evaluation methods for their specific use-cases. This is achieved through two unique components: (1) an interactive guide aiding users in evaluation method selection and (2) automated meta-evaluation tools that assess the reliability of different evaluation approaches using perturbed data. We demonstrate the effectiveness of EvalSense in a case study involving the generation of clinical notes from unstructured doctor-patient dialogues, using a popular open dataset. All code, documentation, and assets associated with EvalSense are open-source and publicly available at https://github.com/nhsengland/evalsense.
Bayesian Lottery Ticket Hypothesis
Venue: arXiv cs.LG 2026
Year: 2026

Bayesian neural networks (BNNs) are a useful tool for uncertainty quantification, but require substantially more computational resources than conventional neural networks. For non-Bayesian networks, the Lottery Ticket Hypothesis (LTH) posits the existence of sparse subnetworks that can train to the same or even surpassing accuracy as the original dense network. Such sparse networks can lower the demand for computational resources at inference, and during training. The existence of the LTH and corresponding sparse subnetworks in BNNs could motivate the development of sparse training algorithms and provide valuable insights into the underlying training process. Towards this end, we translate the LTH experiments to a Bayesian setting using common computer vision models. We investigate the defining characteristics of Bayesian lottery tickets, and extend our study towards a transplantation method connecting BNNs with deterministic Lottery Tickets. We generally find that the LTH holds in BNNs, and winning tickets of matching and surpassing accuracy are present independent of model size, with degradation at very high sparsities. However, the pruning strategy should rely primarily on magnitude, secondly on standard deviation. Furthermore, our results demonstrate that models rely on mask structure and weight initialization to varying degrees.
Open-Vocabulary Domain Generalization in Urban-Scene Segmentation
Venue: arXiv cs.CV 2026
Year: 2026

Domain Generalization in Semantic Segmentation (DG-SS) aims to enable segmentation models to perform robustly in unseen environments. However, conventional DG-SS methods are restricted to a fixed set of known categories, limiting their applicability in open-world scenarios. Recent progress in Vision-Language Models (VLMs) has advanced Open-Vocabulary Semantic Segmentation (OV-SS) by enabling models to recognize a broader range of concepts. Yet, these models remain sensitive to domain shifts and struggle to maintain robustness when deployed in unseen environments, a challenge that is particularly severe in urban-driving scenarios. To bridge this gap, we introduce Open-Vocabulary Domain Generalization in Semantic Segmentation (OVDG-SS), a new setting that jointly addresses unseen domains and unseen categories. We introduce the first benchmark for OVDG-SS in autonomous driving, addressing a previously unexplored problem and covering both synthetic-to-real and real-to-real generalization across diverse unseen domains and unseen categories. In OVDG-SS, we observe that domain shifts often distort text-image correlations in pre-trained VLMs, which hinders the performance of OV-SS models. To tackle this challenge, we propose S2-Corr, a state-space-driven text-image correlation refinement mechanism that mitigates domain-induced distortions and produces more consistent text-image correlations under distribution changes. Extensive experiments on our constructed benchmark demonstrate that the proposed method achieves superior cross-domain performance and efficiency compared to existing OV-SS approaches.
Gait Asymmetry from Unilateral Weakness and Improvement With Ankle Assistance: a Reinforcement Learning based Simulation Study
Venue: arXiv cs.RO 2026
Year: 2026

Unilateral muscle weakness often leads to asymmetric gait, disrupting interlimb coordination and stance timing. This study presents a reinforcement learning (RL) based musculoskeletal simulation framework to (1) quantify how progressive unilateral muscle weakness affects gait symmetry and (2) evaluate whether ankle exoskeleton assistance can improve gait symmetry under impaired conditions. The overarching goal is to establish a simulation- and learning-based workflow that supports early controller development prior to patient experiments. Asymmetric gait was induced by reducing right-leg muscle strength to 75%, 50%, and 25% of baseline. Gait asymmetry was quantified using toe-off timing, peak contact forces, and joint-level symmetry metrics. Increasing weakness produced progressively larger temporal and kinematic asymmetry, most pronounced at the ankle. Ankle range of motion symmetry degraded from near-symmetric behavior at 100% strength (symmetry index, SI = +6.4%; correlation r=0.974) to severe asymmetry at 25% strength (SI = -47.1%, r=0.889), accompanied by a load shift toward the unimpaired limb. At 50% strength, ankle exoskeleton assistance improved kinematic symmetry relative to the unassisted impaired condition, reducing the magnitude of ankle SI from 25.8% to 18.5% and increasing ankle correlation from r=0.948 to 0.966, although peak loading remained biased toward the unimpaired side. Overall, this framework supports controlled evaluation of impairment severity and assistive strategies, and provides a basis for future validation in human experiments.
Enhancing 3D LiDAR Segmentation by Shaping Dense and Accurate 2D Semantic Predictions
Venue: arXiv cs.CV 2026
Year: 2026

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as a 2D problem. However, the intrinsic sparsity of the projected LiDAR and label maps can result in sparse and inaccurate intermediate 2D semantic predictions, which in return limits the final 3D accuracy. To address this issue, we enhance this task by shaping dense and accurate 2D predictions. Specifically, we develop a multi-modal segmentation model, MM2D3D. By leveraging camera images as auxiliary data, we introduce cross-modal guided filtering to overcome label map sparsity by constraining intermediate 2D semantic predictions with dense semantic relations derived from the camera images; and we introduce dynamic cross pseudo supervision to overcome LiDAR map sparsity by encouraging the 2D predictions to emulate the dense distribution of the semantic predictions from the camera images. Experiments show that our techniques enable our model to achieve intermediate 2D semantic predictions with dense distribution and higher accuracy, which effectively enhances the final 3D accuracy. Comparisons with previous methods demonstrate our superior performance in both 2D and 3D spaces.
SafeDrive: Fine-Grained Safety Reasoning for End-to-End Driving in a Sparse World
Venue: arXiv cs.CV 2026
Year: 2026

The end-to-end (E2E) paradigm, which maps sensor inputs directly to driving decisions, has recently attracted significant attention due to its unified modeling capability and scalability. However, ensuring safety in this unified framework remains one of the most critical challenges. In this work, we propose SafeDrive, an E2E planning framework designed to perform explicit and interpretable safety reasoning through a trajectory-conditioned Sparse World Model. SafeDrive comprises two complementary networks: the Sparse World Network (SWNet) and the Fine-grained Reasoning Network (FRNet). SWNet constructs trajectory-conditioned sparse worlds that simulate the future behaviors of critical dynamic agents and road entities, providing interaction-centric representations for downstream reasoning. FRNet then evaluates agent-specific collision risks and temporal adherence to drivable regions, enabling precise identification of safety-critical events across future timesteps. SafeDrive achieves state-of-the-art performance on both open-loop and closed-loop benchmarks. On NAVSIM, it records a PDMS of 91.6 and an EPDMS of 87.5, with only 61 collisions out of 12,146 scenarios (0.5%). On Bench2Drive, SafeDrive attains a 66.8% driving score.
PCA-VAE: Differentiable Subspace Quantization without Codebook Collapse
Venue: arXiv cs.LG 2026
Year: 2026

Vector-quantized autoencoders deliver high-fidelity latents but suffer inherent flaws: the quantizer is non-differentiable, requires straight-through hacks, and is prone to collapse. We address these issues at the root by replacing VQ with a simple, principled, and fully differentiable alternative: an online PCA bottleneck trained via Oja's rule. The resulting model, PCA-VAE, learns an orthogonal, variance-ordered latent basis without codebooks, commitment losses, or lookup noise. Despite its simplicity, PCA-VAE exceeds VQ-GAN and SimVQ in reconstruction quality on CelebAHQ while using 10-100x fewer latent bits. It also produces naturally interpretable dimensions (e.g., pose, lighting, gender cues) without adversarial regularization or disentanglement objectives. These results suggest that PCA is a viable replacement for VQ: mathematically grounded, stable, bit-efficient, and semantically structured, offering a new direction for generative models beyond vector quantization.
TRUE: A Trustworthy Unified Explanation Framework for Large Language Model Reasoning
Venue: arXiv cs.LG 2026
Year: 2026

Large language models (LLMs) have demonstrated strong capabilities in complex reasoning tasks, yet their decision-making processes remain difficult to interpret. Existing explanation methods often lack trustworthy structural insight and are limited to single-instance analysis, failing to reveal reasoning stability and systematic failure mechanisms. To address these limitations, we propose the Trustworthy Unified Explanation Framework (TRUE), which integrates executable reasoning verification, feasible-region directed acyclic graph (DAG) modeling, and causal failure mode analysis. At the instance level, we redefine reasoning traces as executable process specifications and introduce blind execution verification to assess operational validity. At the local structural level, we construct feasible-region DAGs via structure-consistent perturbations, enabling explicit characterization of reasoning stability and the executable region in the local input space. At the class level, we introduce a causal failure mode analysis method that identifies recurring structural failure patterns and quantifies their causal influence using Shapley values. Extensive experiments across multiple reasoning benchmarks demonstrate that the proposed framework provides multi-level, verifiable explanations, including executable reasoning structures for individual instances, feasible-region representations for neighboring inputs, and interpretable failure modes with quantified importance at the class level. These results establish a unified and principled paradigm for improving the interpretability and reliability of LLM reasoning systems.
Marginalized Bundle Adjustment: Multi-View Camera Pose from Monocular Depth Estimates
Venue: arXiv cs.CV 2026
Year: 2026

Structure-from-Motion (SfM) is a fundamental 3D vision task for recovering camera parameters and scene geometry from multi-view images. While recent deep learning advances enable accurate Monocular Depth Estimation (MDE) from single images without depending on camera motion, integrating MDE into SfM remains a challenge. Unlike conventional triangulated sparse point clouds, MDE produces dense depth maps with significantly higher error variance. Inspired by modern RANSAC estimators, we propose Marginalized Bundle Adjustment (MBA) to mitigate MDE error variance leveraging its density. With MBA, we show that MDE depth maps are sufficiently accurate to yield SoTA or competitive results in SfM and camera relocalization tasks. Through extensive evaluations, we demonstrate consistently robust performance across varying scales, ranging from few-frame setups to large multi-view systems with thousands of images. Our method highlights the significant potential of MDE in multi-view 3D vision.
SLDP: Semi-Local Differential Privacy for Density-Adaptive Analytics
Venue: arXiv cs.LG 2026
Year: 2026

Density-adaptive domain discretization is essential for high-utility privacy-preserving analytics but remains challenging under Local Differential Privacy (LDP) due to the privacy-budget costs associated with iterative refinement. We propose a novel framework, Semi-Local Differential Privacy (SLDP), that assigns a privacy region to each user based on local density and defines adjacency by the potential movement of a point within its privacy region. We present an interactive $(\varepsilon, δ)$-SLDP protocol, orchestrated by an honest-but-curious server over a public channel, to estimate these regions privately. Crucially, our framework decouples the privacy cost from the number of refinement iterations, allowing for high-resolution grids without additional privacy budget cost. We experimentally demonstrate the framework's effectiveness on estimation tasks across synthetic and real-world datasets.
From Docs to Descriptions: Smell-Aware Evaluation of MCP Server Descriptions
Venue: arXiv cs.SE 2026
Year: 2026

The Model Context Protocol (MCP) has rapidly become a de facto standard for connecting LLM-based agents with external tools via reusable MCP servers. In practice, however, server selection and onboarding rely heavily on free-text tool descriptions that are intentionally loosely constrained. Although this flexibility largely ensures the scalability of MCP servers, it also creates a reliability gap that descriptions often misrepresent or omit key semantics, increasing trial-and-error integration, degrading agent behavior, and potentially introducing security risks. To this end, we present the first systematic study of description smells in MCP tool descriptions and their impact on usability. Specifically, we synthesize software/API documentation practices and agentic tool-use requirements into a four-dimensional quality standard: accuracy, functionality, information completeness, and conciseness, covering 18 specific smell categories. Using this standard, we conducted a large-scale empirical study on a well-constructed dataset of 10,831 MCP servers. We find that description smells are pervasive (e.g., 73% repeated tool names, thousands with incorrect parameter semantics or missing return descriptions), reflecting a "code-first, description-last" pattern. Through a controlled mutation-based study, we show these smells significantly affect LLM tool selection, with functionality and accuracy having the largest effects (+11.6% and +8.8%, p < 0.001). In competitive settings with functionally equivalent servers, standard-compliant descriptions reach 72% selection probability (260% over a 20% baseline), demonstrating that smell-guided remediation yields substantial practical benefits. We release our labeled dataset and standards to support future work on reliable and secure MCP ecosystems.
WANSpec: Leveraging Global Compute Capacity for LLM Inference
Venue: arXiv cs.DC 2026
Year: 2026

Data centers capable of running large language models (LLMs) are spread across the globe. Some have high end GPUs for running the most advanced models (100B+ parameters), and others are only suitable for smaller models (1B parameters). The most capable GPUs are under high demand thanks to the rapidly expanding applications of LLMs. Choosing the right location to run an LLM inference workload can have consequences on the latency of requests due to these high demands. In this work, we explore options to shift some aspects of inference to the under-utilized data centers. We first observe the varying delays affecting inference in AWS services from different regions, demonstrating that load is not spread evenly. We then introduce WANSpec, which offloads part of LLM generation to the under-utilized data centers. In doing so, WANSpec can mitigate capacity issues as well as effectively use on-site compute (ie at universities) to augment cloud providers. This is done with speculative decoding, a widely used technique to speed up auto-regressive decoding, by moving the draft model to the under-utilized compute resources. Our experiments in simulation and cloud deployments show that WANSpec can judiciously employ redundancy to avoid increases in latency while still reducing the forward passes of speculative decoding's draft model in high demand data centers by over 50%.
Incremental Transformer Neural Processes
Venue: arXiv cs.LG 2026
Year: 2026

Neural Processes (NPs), and specifically Transformer Neural Processes (TNPs), have demonstrated remarkable performance across tasks ranging from spatiotemporal forecasting to tabular data modelling. However, many of these applications are inherently sequential, involving continuous data streams such as real-time sensor readings or database updates. In such settings, models should support cheap, incremental updates rather than recomputing internal representations from scratch for every new observation -- a capability existing TNP variants lack. Drawing inspiration from Large Language Models, we introduce the Incremental TNP (incTNP). By leveraging causal masking, Key-Value (KV) caching, and a data-efficient autoregressive training strategy, incTNP matches the predictive performance of standard TNPs while reducing the computational cost of updates from quadratic to linear time complexity. We empirically evaluate our model on a range of synthetic and real-world tasks, including tabular regression and temperature prediction. Our results show that, surprisingly, incTNP delivers performance comparable to -- or better than -- non-causal TNPs while unlocking orders-of-magnitude speedups for sequential inference. Finally, we assess the consistency of the model's updates -- by adapting a metric of ``implicit Bayesianness", we show that incTNP retains a prediction rule as implicitly Bayesian as standard non-causal TNPs, demonstrating that incTNP achieves the computational benefits of causal masking without sacrificing the consistency required for streaming inference.